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HAL_ChibiOS: auto-configure timer channels

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allow for one marked PPMIN for input
This commit is contained in:
Andrew Tridgell 2018-01-12 15:43:06 +11:00
parent d65ec2ada7
commit daa9eec836
8 changed files with 98 additions and 29 deletions
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4
libraries/AP_HAL_ChibiOS/RCInput.cpp
View File

@ -30,7 +30,9 @@ using namespace ChibiOS;
extern const AP_HAL::HAL& hal;
void ChibiRCInput::init()
{
#if HAL_USE_ICU == TRUE
ppm_init(1000000, true);
#endif
chMtxObjectInit(&rcin_mutex);
_init = true;
}
@ -164,12 +166,14 @@ void ChibiRCInput::_timer_tick(void)
if (!_init) {
return;
}
#if HAL_USE_ICU == TRUE
if (ppm_available()) {
chMtxLock(&rcin_mutex);
_num_channels = ppm_read_bulk(_rc_values, RC_INPUT_MAX_CHANNELS);
_rcin_timestamp_last_signal = AP_HAL::micros();
chMtxUnlock(&rcin_mutex);
}
#endif
#ifdef HAL_RCINPUT_WITH_AP_RADIO
if (radio && radio->last_recv_us() != last_radio_us) {

4
libraries/AP_HAL_ChibiOS/hwdef/common/board.h
View File

@ -18,10 +18,6 @@
#include "hwdef.h"
#ifndef PPM_ICU_TIMER
#define PPM_ICU_TIMER ICUD4
#endif
#ifndef PPM_ICU_CHANNEL
#define PPM_ICU_CHANNEL ICU_CHANNEL_2
#endif

6
libraries/AP_HAL_ChibiOS/hwdef/common/halconf.h
View File

@ -104,7 +104,7 @@
* @brief Enables the ICU subsystem.
*/
#if !defined(HAL_USE_ICU) || defined(__DOXYGEN__)
#define HAL_USE_ICU TRUE
#define HAL_USE_ICU FALSE
#endif
/**
@ -160,7 +160,7 @@
* @brief Enables the SERIAL over USB subsystem.
*/
#if !defined(HAL_USE_SERIAL_USB) || defined(__DOXYGEN__)
#define HAL_USE_SERIAL_USB TRUE
#define HAL_USE_SERIAL_USB FALSE
#endif
/**
@ -181,7 +181,7 @@
* @brief Enables the USB subsystem.
*/
#if !defined(HAL_USE_USB) || defined(__DOXYGEN__)
#define HAL_USE_USB TRUE
#define HAL_USE_USB FALSE
#endif
/**

44
libraries/AP_HAL_ChibiOS/hwdef/common/mcuconf.h
View File

@ -54,19 +54,47 @@
* HAL driver system settings.
*/
#define STM32_NO_INIT FALSE
#ifndef STM32_HSI_ENABLED
#define STM32_HSI_ENABLED TRUE
#endif
#ifndef STM32_LSI_ENABLED
#define STM32_LSI_ENABLED TRUE
#endif
#ifndef STM32_HSE_ENABLED
#define STM32_HSE_ENABLED TRUE
#endif
#ifndef STM32_LSE_ENABLED
#define STM32_LSE_ENABLED FALSE
#endif
#ifndef STM32_CLOCK48_REQUIRED
#define STM32_CLOCK48_REQUIRED TRUE
#endif
#ifndef STM32_SW
#define STM32_SW STM32_SW_PLL
#endif
#ifndef STM32_PLLSRC
#define STM32_PLLSRC STM32_PLLSRC_HSE
#endif
#ifndef STM32_PLLM_VALUE
#define STM32_PLLM_VALUE 24
#endif
#ifndef STM32_PLLN_VALUE
#define STM32_PLLN_VALUE 336
#endif
#ifndef STM32_PLLP_VALUE
#define STM32_PLLP_VALUE 2
#endif
#ifndef STM32_PLLQ_VALUE
#define STM32_PLLQ_VALUE 7
#endif
#define STM32_HPRE STM32_HPRE_DIV1
#define STM32_PPRE1 STM32_PPRE1_DIV4
#define STM32_PPRE2 STM32_PPRE2_DIV2
@ -187,13 +215,6 @@
/*
* ICU driver system settings.
*/
#define STM32_ICU_USE_TIM1 FALSE
#define STM32_ICU_USE_TIM2 FALSE
#define STM32_ICU_USE_TIM3 FALSE
#define STM32_ICU_USE_TIM4 TRUE
#define STM32_ICU_USE_TIM5 FALSE
#define STM32_ICU_USE_TIM8 FALSE
#define STM32_ICU_USE_TIM9 FALSE
#define STM32_ICU_TIM1_IRQ_PRIORITY 7
#define STM32_ICU_TIM2_IRQ_PRIORITY 7
#define STM32_ICU_TIM3_IRQ_PRIORITY 7
@ -217,13 +238,6 @@
* PWM driver system settings.
*/
#define STM32_PWM_USE_ADVANCED FALSE
#define STM32_PWM_USE_TIM1 TRUE
#define STM32_PWM_USE_TIM2 FALSE
#define STM32_PWM_USE_TIM3 FALSE
#define STM32_PWM_USE_TIM4 FALSE
#define STM32_PWM_USE_TIM5 FALSE
#define STM32_PWM_USE_TIM8 FALSE
#define STM32_PWM_USE_TIM9 FALSE
#define STM32_PWM_TIM1_IRQ_PRIORITY 7
#define STM32_PWM_TIM2_IRQ_PRIORITY 7
#define STM32_PWM_TIM3_IRQ_PRIORITY 7
@ -293,8 +307,6 @@
/*
* USB driver system settings.
*/
#define STM32_USB_USE_OTG1 TRUE
#define STM32_USB_USE_OTG2 FALSE
#define STM32_USB_OTG1_IRQ_PRIORITY 14
#define STM32_USB_OTG2_IRQ_PRIORITY 14
#define STM32_USB_OTG1_RX_FIFO_SIZE 512

9
libraries/AP_HAL_ChibiOS/hwdef/common/ppm.c
View File

@ -16,6 +16,8 @@
#include "ppm.h"
#if HAL_USE_ICU
static ICUConfig icucfg; //Input Capture Unit Config
static uint16_t ppm_buffer[10] = {0};
static bool updated[10] = {0};
@ -43,9 +45,9 @@ bool ppm_init(uint32_t freq, bool active_high)
icucfg.overflow_cb = NULL;
icucfg.dier = 0;
icuStart(&PPM_ICU_TIMER, &icucfg);
icuStartCapture(&PPM_ICU_TIMER);
icuEnableNotifications(&PPM_ICU_TIMER);
icuStart(&HAL_ICU_TIMER, &icucfg);
icuStartCapture(&HAL_ICU_TIMER);
icuEnableNotifications(&HAL_ICU_TIMER);
return true;
}
@ -99,3 +101,4 @@ static void ppm_measurement_cb(ICUDriver *icup)
buf_ptr++;
}
}
#endif // HAL_USE_ICU

2
libraries/AP_HAL_ChibiOS/hwdef/fmuv4/hwdef.dat
View File

@ -53,7 +53,7 @@ PA13 JTMS-SWDIO SWD
PA14 JTCK-SWCLK SWD
# PA15 ALARM
PB0 RCINPUT INPUT
PB0 TIM3_CH3 TIM3 PPMIN # RC Input PPM
PB1 LED_GREEN OUTPUT
PB2 BOOT1 INPUT
PB3 LED_BLUE OUTPUT

47
libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
View File

@ -39,6 +39,9 @@ spidev = []
# SPI bus list
spi_list = []
# all config lines in order
alllines = []
mcu_type = None
def is_int(str):
@ -222,6 +225,7 @@ def process_line(line):
'''process one line of pin definition file'''
a = shlex.split(line)
# keep all config lines for later use
alllines.append(line)
config[a[0]] = a[1:]
if a[0] == 'MCU':
global mcu_type
@ -270,10 +274,18 @@ def write_mcu_config(f):
f.write('#define USE_POSIX\n\n')
if not 'SDIO_CMD' in bylabel:
f.write('#define HAL_USE_SDC FALSE\n')
if 'OTG1' in bytype:
f.write('#define STM32_USB_USE_OTG1 TRUE\n')
f.write('#define HAL_USE_USB TRUE\n')
f.write('#define HAL_USE_SERIAL_USB TRUE\n')
if 'OTG2' in bytype:
f.write('#define STM32_USB_USE_OTG2 TRUE\n')
# write any custom STM32 defines
for d in config.keys():
for d in alllines:
if d.startswith('STM32_'):
f.write('#define %s %s\n' % (d, ' '.join(config[d])))
f.write('#define %s\n' % d)
if d.startswith('define '):
f.write('#define %s\n' % d[7:])
f.write('\n')
def write_USB_config(f):
@ -410,6 +422,36 @@ def write_I2C_config(f):
f.write('#define HAL_I2C%u_CONFIG { &I2CD%u, STM32_I2C_I2C%u_TX_DMA_STREAM, STM32_I2C_I2C%u_RX_DMA_STREAM }\n' % (n, n, n, n))
f.write('#define HAL_I2C_DEVICE_LIST %s\n\n' % ','.join(devlist))
def write_PWM_config(f):
'''write PWM config defines'''
ppm_in = None
pwm_out = []
pwm_timers = []
for l in bylabel.keys():
p = bylabel[l]
if p.type.startswith('TIM'):
if p.has_extra('PPMIN'):
ppm_in = p
else:
pwm_out.append(p)
if p.type not in pwm_timers:
pwm_timers.append(p.type)
if ppm_in is not None:
chan = int(ppm_in.label[7:])
n = int(ppm_in.type[3])
f.write('// PPM input config\n')
f.write('#define HAL_USE_ICU TRUE\n')
f.write('#define HAL_ICU_TIMER ICUD%u\n' % n)
f.write('#define STM32_ICU_USE_TIM%u TRUE\n' % n)
f.write('#define HAL_ICU_CHANNEL ICU_CHANNEL_%u\n' % chan)
f.write('\n')
f.write('// PWM output config\n')
for t in sorted(pwm_timers):
n = int(t[3])
f.write('#define STM32_PWM_USE_TIM%u TRUE\n' % n)
f.write('\n')
def write_prototype_file():
'''write the prototype file for apj generation'''
@ -459,6 +501,7 @@ def write_hwdef_header(outfilename):
write_USB_config(f)
write_I2C_config(f)
write_SPI_config(f)
write_PWM_config(f)
write_peripheral_enable(f)
write_prototype_file()

11
libraries/AP_HAL_ChibiOS/hwdef/skyviper-f412/hwdef.dat
View File

@ -9,6 +9,17 @@ APJ_BOARD_ID 9
# crystal frequency
OSCILLATOR_HZ 24000000
STM32_HSE_ENABLED FALSE
STM32_PLLM_VALUE 16
STM32_PLLN_VALUE 384
STM32_PLLP_VALUE 4
STM32_PLLQ_VALUE 8
STM32_PLLSRC STM32_PLLSRC_HSI
STM32_PREE1 STM32_PREE1_DIV2
STM32_PREE2 STM32_PREE2_DIV1
STM32_PWM_USE_TIM3 TRUE
# board voltage
STM32_VDD 330U